Research On Dislocation Palletizing Programming And Its Combination Robot Palletizer

This article was accomplished under the support of the the “Demonstration and research on the key technology of the equipment and material used for food packaging(2011BAD24B01)--research on the intelligent programming palletizing robot”. Based on the characteristics of a four shaft palletizing robot, type DJM1200, the dislocation palletizing module and software of the dislocation palletizing programming were researched and designed.Up to now, palletizing robot has been widely used in the end of the production line, and the performance of palletizing robot depended on its palletizing ability. Most of the palletizing robot working process is accomplished by teaching, but such a method required complex operation, a lot of time, and the final stack type that were stable or unstable depend mainly on the operator’s experience, which can cause the waste of tray space. Although off-line programming technology has been achieved in generalization, it still requires high qualities of the users, and the stack type may not necessarily be the most suitable type for the needs of its users. With the diversity of the industrial products, the change of the size of the product is bigger, in order to improve the competitiveness, the user needs to rapidly design the optimal stack type according to their own product.A dislocation palletizing module and software of the dislocation palletizing programming, which can effectively solve the above problems,were designed. Firstly, introduced the principle of dislocation palletizing algorithm which can automatically program stacking pattern, rapidly get the optimal stack type according to the user’s requirements. The stack type meet two conditions: first, maximizing the spatial utilization rate of the tray. Second, most stable.Secondly, analysed the characteristics of the palletizing robot controller—Kemotion and determined the scheme of research on the dislocated palletizing function. The scheme includes the development of Ketop template program, the development of soft PLC and software of the dislocation palletizing programming, in which the program of Ketop template and PLC form the dislocation palletizing module. With the aid of the hardware and software connection between the palletizing robot controller and PC environment setup, eventually the dislocated stacking module and software of the dislocated palletizing programming have developed.Finally, designed three sets of cross experiment, and verified the best stack type. The experimental results showed that the software of the dislocated palletizing programming can generate the best stack type just based on the different size of boxes and pallet. With the dislocation palletizing module, the palletizing robot can work quickly. This research has reached the expectance, met the requirements of factory production, and will provide great research basement for the development of a new kind of palletizing robot.